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#ifndef DWB_PLUGINS_XY_THETA_ITERATOR_H
#define DWB_PLUGINS_XY_THETA_ITERATOR_H

#include <dwb_plugins/velocity_iterator.h>
#include <dwb_plugins/one_d_velocity_iterator.h>
#include <memory>

namespace dwb_plugins
{
class XYThetaIterator : public VelocityIterator
{
public:
  XYThetaIterator() : kinematics_(nullptr), x_it_(nullptr), y_it_(nullptr), th_it_(nullptr) {}
  void initialize(ros::NodeHandle& nh, KinematicParameters::Ptr kinematics) override;
  void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity, double dt) override;
  bool hasMoreTwists() override;
  nav_2d_msgs::Twist2D nextTwist() override;
protected:
  virtual bool isValidVelocity();
  void iterateToValidVelocity();
  int vx_samples_, vy_samples_, vtheta_samples_;
  KinematicParameters::Ptr kinematics_;

  std::shared_ptr<OneDVelocityIterator> x_it_, y_it_, th_it_;
};
}  // namespace dwb_plugins

#endif  // DWB_PLUGINS_XY_THETA_ITERATOR_H
